• Journal of the Korean Society of Industry Convergence
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• v.21 no.5
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• pp.197-205
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• 2018

In this research, tricycle vehicle simulation based on multi-body environment has been introduced. Mathematical model of tricycle vehicle was developed. In this research the left and right wheel speed are calculated based on the rear steering angle and velocity. The kinematic model for the three - wheel drive system was completed and the results were analyzed using the actual vehicle drawings. Through simulink vehicle performance on linear and rotation movement were simulated. Using the mathematical model the control system can be applied directly to the tricycle vehicle. The simulation result shows that the proposed vehicle model is successfully represent the movement characteristics of the real vehicle. This model assists the vehicle developer to create the controller and understand the vehicle during the development process.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.2
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• pp.138-145
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• 2000

A identification algorithm that finds optimal fuzzy membership functions and rule base to fuzzy model isproposed and a fuzzy controller is designed to get more accurate position and velocity control of wheeled mobile robot. This procedure that is composed of three steps has its own unique process at each step. The elements of output term set are increased at first step and then the rule base is varied according to increase of the elements. The adjusted system is in competition with system which doesn't include any increased elements. The adjusted system will be removed if the system lost. Otherwise, the control system is replaced with the adjusted system. After finished regulation of output term set and rule base, searching for input membership functions is processed with constraints and fine tuning of output membership functions is done.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
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• v.29 no.3
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• pp.175-179
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• 2023

This paper analyzes the vibration characteristics within the cargo compartment of a three-wheeled cargo bike when used on both regular roads and dedicated bicycle lanes. When cargo is loaded into the cargo compartment of a cargo bike and driven on the road, the shocks and vibrations transmitted from the ground can potentially affect the transported goods and even lead to product damage. As the vibration characteristics applied to the cargo compartment may vary depending on the condition of the road, vibration sensors were attached to the cargo bike's cargo compartment for data collection during operation on different road types. According to KS T ISO 13355 standards, the cargo bike can withstand vibrations within the range of 10 Hz to 60 Hz when operating on both bicycle lanes and regular roads. However, it is observed that there are peaks exceeding the profile in the frequency range of 3-6 Hz. In the 70-200 Hz range, the profile is exceeded on both regular roads and bicycle lanes, with a tendency for higher exceedance on bicycle lanes. The Grms value within the frequency range of KS T ISO 13355 is 5.926 m/s² (0.604 Grms). When operating on bicycle lanes with cargo, the Peak envelope optimization PSD value is 6.553 Grms, while on bicycle lanes, it is 7.708 Grms, indicating a difference of at least tenfold.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.